Experiments in outdoor operation of RatSLAM
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Description
This paper shows initial results in deploying the biologically inspired Simultaneous Localisation and Mapping system, RatSLAM, in an outdoor environment. RatSLAM has been widely tested in indoor environments on the task of producing topologically coherent maps based on a fusion of odometric and visual information. This paper details the changes required to deploy RatSLAM on a small tractor equipped with odometry and an omnidirectional camera. The principal changes relate to the vision system, with others required for RatSLAM to use omnidirectional visual data. The initial results from mapping around a 500 m loop are promising, with many improvements still to be made.
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ID Code: | 32826 | ||||||
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Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||||||
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Measurements or Duration: | 6 pages | ||||||
ISBN: | 0-9587583-6-0 | ||||||
Pure ID: | 34180407 | ||||||
Divisions: | Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering Past > Schools > School of Engineering Systems |
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Copyright Owner: | Copyright 2004 [please consult the authors] | ||||||
Copyright Statement: | This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au | ||||||
Deposited On: | 22 Jun 2010 22:43 | ||||||
Last Modified: | 15 Mar 2024 21:12 |
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